devZoGok/vb01
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simplified global - local transformation methods

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fixed position bug when posing bones
initial IK method
This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent 7ed0eed7e2
commit 3ee5555652
9 changed files with 204 additions and 78 deletions
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node.cpp
+73 -49
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@@ -101,14 +101,22 @@ namespace vb01{
text->setNode(this);
}
void Node::lookAt(Vector3 newDir,Vector3 newUp,Node *node){
void Node::lookAt(Vector3 newDir, Vector3 newUp, Node *node){
adjustDir(newDir, node);
adjustUp(newUp, node);
}
void Node::lookAt(Vector3 newDir, Node *node){
adjustDir(newDir, node);
}
void Node::adjustDir(Vector3 newDir, Node *node){
Vector3 parAxis[]{
node->getGlobalAxis(0),
node->getGlobalAxis(1),
node->getGlobalAxis(2)
};
newDir=(parAxis[0]*newDir.x+parAxis[1]*newDir.y+parAxis[2]*newDir.z).norm();
newUp=(parAxis[0]*newUp.x+parAxis[1]*newUp.y+parAxis[2]*newUp.z).norm();
float angle=globalAxis[2].getAngleBetween(newDir);
Vector3 rotAxis=globalAxis[2].cross(newDir).norm();
@@ -118,6 +126,15 @@ namespace vb01{
Quaternion oldRot = node->localToGlobalOrientation(orientation);
Quaternion newRot = node->globalToLocalOrientation(Quaternion(angle,rotAxis));
setOrientation(newRot*oldRot);
}
void Node::adjustUp(Vector3 newUp, Node *node){
Vector3 parAxis[]{
node->getGlobalAxis(0),
node->getGlobalAxis(1),
node->getGlobalAxis(2)
};
newUp=(parAxis[0]*newUp.x+parAxis[1]*newUp.y+parAxis[2]*newUp.z).norm();
mat3 mat;
mat[0][0]=globalAxis[0].x;
@@ -133,10 +150,10 @@ namespace vb01{
vec3 nu=vec3(newUp.x,newUp.y,newUp.z)*mat;
newUp=(globalAxis[0]*nu.x+globalAxis[1]*nu.y).norm();
angle=globalAxis[1].getAngleBetween(newUp);
float angle=globalAxis[1].getAngleBetween(newUp);
oldRot = node->localToGlobalOrientation(orientation);
newRot = node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),globalAxis[2]));
Quaternion oldRot = node->localToGlobalOrientation(orientation);
Quaternion newRot = node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),globalAxis[2]));
setOrientation(newRot*oldRot);
}
@@ -151,7 +168,7 @@ namespace vb01{
vector<Node*> Node::getAncestors(Node *node, Node *topAncestor){
vector<Node*> ancestors;
Node *parent=node;
Node *parent = node;
if(!topAncestor)
topAncestor = Root::getSingleton()->getRootNode();
@@ -159,7 +176,7 @@ namespace vb01{
ancestors.push_back(parent);
if(parent == topAncestor)
break;
parent=parent->getParent();
parent = parent->getParent();
}
return ancestors;
}
@@ -171,34 +188,25 @@ namespace vb01{
parent->getGlobalAxis(2)
};
float rotAngle=orientation.getAngle();
Vector3 rotAxis=orientation.getAxis();
Vector3 newAxis=(parGlobalAxis[0]*rotAxis.x+parGlobalAxis[1]*rotAxis.y+parGlobalAxis[2]*rotAxis.z).norm();
float rotAngle = orientation.getAngle();
Vector3 rotAxis = orientation.getAxis();
Vector3 newAxis = (parGlobalAxis[0] * rotAxis.x + parGlobalAxis[1] * rotAxis.y + parGlobalAxis[2] * rotAxis.z).norm();
Quaternion rotQuat=Quaternion(rotAngle,newAxis);
for(int i=0;i<3;i++)
for(int i = 0; i < 3; i++)
globalAxis[i] = (rotQuat * parGlobalAxis[i]).norm();
for(Node *ch : children)
ch->updateAxis();
}
Vector3 Node::localToGlobalPosition(Vector3 localPos){
vector<Node*> ancestors=getAncestors(this);
Vector3 origin=Vector3::VEC_ZERO;
vector<Node*> ancestors = getAncestors(this);
Vector3 origin = Vector3::VEC_ZERO;
Quaternion quat;
while(!ancestors.empty()){
int id=ancestors.size()-1;
Node *par=ancestors[id]->getParent();
Vector3 parAxis[]={
par?par->getGlobalAxis(0):Vector3::VEC_I,
par?par->getGlobalAxis(1):Vector3::VEC_J,
par?par->getGlobalAxis(2):Vector3::VEC_K
};
Vector3 p=ancestors[id]->getPosition();
origin=origin+parAxis[0]*p.x+parAxis[1]*p.y+parAxis[2]*p.z;
ancestors.pop_back();
}
return origin+globalAxis[0]*localPos.x+globalAxis[1]*localPos.y+globalAxis[2]*localPos.z;
adjustPosOrRot(ancestors, origin, quat, true);
return origin + globalAxis[0] * localPos.x + globalAxis[1] * localPos.y + globalAxis[2] * localPos.z;
}
Vector3 Node::globalToLocalPosition(Vector3 globalPos){
@@ -219,43 +227,59 @@ namespace vb01{
}
Quaternion Node::localToGlobalOrientation(Quaternion localRot){
Quaternion origin=Quaternion::QUAT_W;
vector<Node*> ancestors=getAncestors(this);
Vector3 vec;
Quaternion origin = Quaternion::QUAT_W;
vector<Node*> ancestors = getAncestors(this);
while(!ancestors.empty()){
int id=ancestors.size()-1;
Vector3 ancAxis[]{
ancestors[id]->getGlobalAxis(0),
ancestors[id]->getGlobalAxis(1),
ancestors[id]->getGlobalAxis(2)
};
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Quaternion o = Quaternion(angle, (ancAxis[0]*axis.x+ancAxis[1]*axis.y+ancAxis[2]*axis.z).norm());
origin=o*origin;
ancestors.pop_back();
}
return localRot*origin;
adjustPosOrRot(ancestors, vec, origin, true);
return localRot * origin;
}
Quaternion Node::globalToLocalOrientation(Quaternion globalRot){
Quaternion origin=globalRot;
vector<Node*> ancestors=getAncestors(this);
Vector3 vec;
Quaternion origin = globalRot;
vector<Node*> ancestors = getAncestors(this);
adjustPosOrRot(ancestors, vec, origin, false);
return origin;
}
void Node::adjustPosOrRot(vector<Node*> ancestors, Vector3 &adjustablePos, Quaternion &adjustableRot, bool localToGlobal){
Vector3 pOrigin = Vector3::VEC_ZERO;
Quaternion rOrigin = Quaternion::QUAT_W;
while(!ancestors.empty()){
int id=ancestors.size()-1;
Vector3 ancAxis[]{
int id = ancestors.size() - 1;
Vector3 parAxis[]{
ancestors[id]->getGlobalAxis(0),
ancestors[id]->getGlobalAxis(1),
ancestors[id]->getGlobalAxis(2)
};
Vector3 p = ancestors[id]->getPosition();
pOrigin = pOrigin + parAxis[0] * p.x + parAxis[1] * p.y + parAxis[2] * p.z;
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Quaternion o = Quaternion(-angle, (ancAxis[0]*axis.x+ancAxis[1]*axis.y+ancAxis[2]*axis.z).norm());
origin=origin*o;
Vector3 rotAxis = (parAxis[0] * axis.x + parAxis[1] * axis.y + parAxis[2] * axis.z).norm();
Quaternion o;
if(localToGlobal){
o = Quaternion(angle, rotAxis);
rOrigin = rOrigin * o;
}
else{
o = Quaternion(-angle, rotAxis);
rOrigin = o * rOrigin;
}
ancestors.pop_back();
}
return origin;
adjustablePos = pOrigin;
adjustableRot = rOrigin;
}
void Node::updateShaders(){